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/**
* @file esc.cpp
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include "esc.hpp"
#include <systemlib/err.h>
UavcanEscController::UavcanEscController(uavcan::INode &node) :
_node(node),
_uavcan_pub_raw_cmd(node),
_uavcan_sub_status(node),
_orb_timer(node)
{
}
UavcanEscController::~UavcanEscController()
{
perf_free(_perfcnt_invalid_input);
perf_free(_perfcnt_scaling_error);
}
int UavcanEscController::init()
{
// ESC status subscription
int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
if (res < 0)
{
warnx("ESC status sub failed %i", res);
return res;
}
// ESC status will be relayed from UAVCAN bus into ORB at this rate
_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
return res;
}
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
perf_count(_perfcnt_invalid_input);
return;
}
/*
* Rate limiting - we don't want to congest the bus
*/
const auto timestamp = _node.getMonotonicTime();
if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
return;
}
_prev_cmd_pub = timestamp;
/*
* Fill the command message
* If unarmed, we publish an empty message anyway
*/
uavcan::equipment::esc::RawCommand msg;
if (_armed) {
for (unsigned i = 0; i < num_outputs; i++) {
float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
}
if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
perf_count(_perfcnt_scaling_error);
} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
perf_count(_perfcnt_scaling_error);
} else {
; // Correct value
}
msg.cmd.push_back(static_cast<unsigned>(scaled));
}
}
/*
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
*/
(void)_uavcan_pub_raw_cmd.broadcast(msg);
}
void UavcanEscController::arm_esc(bool arm)
{
_armed = arm;
}
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
// TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
}
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
// TODO publish to ORB
}